text: #!/usr/bin/env python
  import os
  import zmq
  import time
  from cereal import car
  from selfdrive.can.parser import CANParser
  from common.realtime import sec_since_boot
  from selfdrive.services import service_list
  import selfdrive.messaging as messaging
  
  
  def _create_nidec_can_parser():
    dbc_f = 'acura_ilx_2016_nidec.dbc'
    radar_messages = [0x400] + range(0x430, 0x43A) + range(0x440, 0x446)
    signals = list(zip(['RADAR_STATE'] +
                  ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
                  ['REL_SPEED'] * 16,
                  [0x400] + radar_messages[1:] * 4,
                  [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
    checks = list(zip([0x445], [20]))
  
    return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
  
  
  class RadarInterface(object):
    def __init__(self, CP):
      # radar
      self.pts = {}
      self.track_id = 0
      self.radar_fault = False
      self.radar_wrong_config = False
      self.radar_off_can = CP.radarOffCan
  
      self.delay = 0.1  # Delay of radar
  
      # Nidec
      self.rcp = _create_nidec_can_parser()
  
      context = zmq.Context()
      self.logcan = messaging.sub_sock(context, service_list['can'].port)
  
    def update(self):
      canMonoTimes = []
  
      updated_messages = set()
      ret = car.RadarState.new_message()
  
      # in Bosch radar and we are only steering for now, so sleep 0.05s to keep
      # radard at 20Hz and return no points
      if self.radar_off_can:
        time.sleep(0.05)
        return ret
  
      while 1:
        tm = int(sec_since_boot() * 1e9)
        updated_messages.update(self.rcp.update(tm, True))
        if 0x445 in updated_messages:
          break
  
      for ii in updated_messages:
        cpt = self.rcp.vl[ii]
        if ii == 0x400:
          # check for radar faults
          self.radar_fault = cpt['RADAR_STATE'] != 0x79
          self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
        elif cpt['LONG_DIST'] < 255:
          if ii not in self.pts or cpt['NEW_TRACK']:
            self.pts[ii] = car.RadarState.RadarPoint.new_message()
            self.pts[ii].trackId = self.track_id
            self.track_id += 1
          self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
          self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
          self.pts[ii].vRel = cpt['REL_SPEED']
          self.pts[ii].aRel = float('nan')
          self.pts[ii].yvRel = float('nan')
          self.pts[ii].measured = True
        else:
          if ii in self.pts:
            del self.pts[ii]
  
      errors = []
      if not self.rcp.can_valid:
        errors.append("commIssue")
      if self.radar_fault:
        errors.append("fault")
      if self.radar_wrong_config:
        errors.append("wrongConfig")
      ret.errors = errors
      ret.canMonoTimes = canMonoTimes
  
      ret.points = self.pts.values()
  
      return ret
  
  
  if __name__ == "__main__":
    class CarParams:
      radarOffCan = False
  
    RI = RadarInterface(CarParams)
    while 1:
      ret = RI.update()
      print(chr(27) + "[2J")
      print(ret)
  